منابع مشابه
Dynamic Simulation of Enveloping Power Grasps
A dynamic simulation method for enveloping power grasps is presented. The method very eeectively models all major grasp conditions and phenomena to achieve a realistic simulation of power grasp. A compliant contact model is developed to solve the static in-determinacy problem in multiple-contact power grasp. A dynamic simulation algorithm is developed based on a discrete-time, state variable ap...
متن کاملAnalysis of frictional forces in indeterminate enveloping grasps
The problem due to the statically indeterminate contact forces arising in indeterminate frictional enveloping grasps is addressed in the paper. First of all, we show that the statical model for the contact forces is incomplete in the sense that the mathematical frictional forces may have an infeasible component. To resolve this infeasibility, we directly derive the enveloping grasp infeasibilit...
متن کاملGeneralized Stability of Compliant Grasps
We develop a geometric framework for the stability analysis of multifingered grasps and propose a measure of grasp stability for arbitrary perturbations and loading conditions. The measure requires a choice of metric on the group of rigid body displacements. We show that although the stability of a grasp itself does not depend on the choice of metric, comparison of the stability of different gr...
متن کاملContact stability for two-fingered grasps
We distinguish between two types of grasp stability, which we call spatial grasp stability and contact grasp stability. We show via examples that spatial stability cannot capture certain intuitive concepts of grasp stability and hence that any full understanding of grasp stability must include contact stability. We derive a model of how the positions of the points of contact evolve in time on t...
متن کاملStability Analysis of Frictionless Grasps and Combining Frictional and Frictionless Grasps
This paper discusses the stability of 2D frictionless grasps and combining stability of frictional and frictionless grasps from the viewpoint of potential energy method. In many works related to the frictionless grasp, each finger is replaced by one directional virtual spring along the normal at the contact point. However, this condition is not accurate, because the frictionless condition does ...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1998
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.16.712